We have developed a humanoid
robot HRP-1S that is capable of simultaneous whole body motion control.
In phase one of the Humanoid Robotics Project (HRP) of the Ministry
of Economy, Trade and Industry of Japan, Honda R&D Co. Ltd has produced
humanoid robot HRP-1 as a humanoid research platform to ease the development
of good applications for humanoid robots in phase two of HRP. However,
HRP-1 controls its legs and arms separately, and is not suitable for
some applications. We modified the control hardware of HRP-1 and implemented
our own control software. The modified robot was designated HRP-1S.
The motion controller of HRP-1S is built in accordance with the plug-in
architecture. We have developed some plug-ins including a real-time
walking pattern generator (KWALK plug-in) and a reflex controller (STABILIZER
plug-in) to maintain the dynamic balance of HRP-1S. In this paper, we
present the system architecture of the control system of HRP-1S and
several experimental results.